ICS/Parking Assist error after body work?

I recently had my 2017 Two in for front bumper replacement after an incident with a badly damaged dirt road. Collision stuff didn't trip or anything, it just ripped the very front corner of underskirting plastic off and broke the attachment holes/tabs off the bumper, so new bumper. Now *if* Parking Assist is enabled I get (I'll check the exact wording and update) "Parking Assist Unavailable" and the yellow triangle lamp is lit. Lane change sonar (mirror icons) still works fine.

The body shop guy said he had to move the vehicle with the bumper off and the ICS sensors disconnected. I believe this probably tripped the fault. Apparently the sensors get moved and glued back into the new bumper, which seems to have been done neatly enough.

I know about the "drive it a bit above 22/25mph to reset ICS" that's necessary after a battery disconnection, but that didn't fix it.

So my main question is: Does turning the vehicle on with the sensor(s) disconnected trip a persistent fault? And it this something (I assume so) that a dealer can just clear with their Toyota diagnostic tool?

TIA folks.